CN114123917B - Motor zero torque control method and related equipment - Google Patents
Motor zero torque control method and related equipment Download PDFInfo
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- CN114123917B CN114123917B CN202111240851.XA CN202111240851A CN114123917B CN 114123917 B CN114123917 B CN 114123917B CN 202111240851 A CN202111240851 A CN 202111240851A CN 114123917 B CN114123917 B CN 114123917B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
本说明书涉及车辆开发测试领域，更具体地说，本发明涉及一种电机零扭矩控制方法及相关设备，上述电机零扭矩控制方法，包括：获取车辆状态；当上述车辆为滑行状态的情况下，检测电机的扭矩；当上述电机的扭矩不为零的情况下，控制电机控制器的IGBT功率模块断开，以此来限制三项电流的输出至电机，从而使得电机的输出扭矩为0，避免了环境温度、标定精度和成耦合减速箱等因素对车辆滑行零扭矩的影响，在车辆滑行阻力测试中，不会受到扭矩波动阻力的干扰，使得测试数据更加精准。相比于现有的台架标定法，无需标定各个转速下电机零扭矩的电流值，可节省时间，缩短研发周期，方便后续整车动力性与经济性研究。
This specification relates to the field of vehicle development and testing, and more specifically, the present invention relates to a motor zero torque control method and related equipment. The motor zero torque control method includes: obtaining the vehicle state; when the vehicle is in a gliding state, detecting the torque of the motor; when the torque of the motor is not zero, controlling the IGBT power module of the motor controller to disconnect, thereby limiting the output of three currents to the motor, so that the output torque of the motor is 0, avoiding the influence of factors such as ambient temperature, calibration accuracy and coupled reduction box on the vehicle's gliding zero torque, and in the vehicle gliding resistance test, it will not be disturbed by torque fluctuation resistance, making the test data more accurate. Compared with the existing bench calibration method, there is no need to calibrate the current value of the motor zero torque at each speed, which can save time, shorten the research and development cycle, and facilitate subsequent vehicle power and economy research.
Description
Technical Field
The present disclosure relates to the field of vehicle development testing, and more particularly, to a motor zero torque control method and related apparatus.
Background
In the development process of the new energy automobile, the research on energy consumption, endurance mileage, power performance and economic performance is established on the premise of the basis of a sliding resistance test. In the new energy automobile sliding test, the time and the speed in the neutral sliding process are acquired, and the functional relation between the resistance of the automobile in the sliding process and the sliding speed is further processed and acquired. The automobile sliding resistance mainly comprises rolling resistance and air resistance, but in an actual sliding state, the traditional motor is insufficient in zero torque control precision, and the automobile sliding resistance also comprises zero torque fluctuation resistance, so that the sliding resistance fluctuation is large, the sliding damping curve dispersion is large, and finally the sliding resistance experiment is difficult to pass.
At present, the common zero torque control method is to calibrate the current value of the zero torque of the motor at each rotating speed through a rack and write the current value into a motor controller. When the motor controller receives the zero torque command sent by the VCU, the motor is searched and driven according to the calibrated current value. However, the output torque of the method is greatly influenced by the motor, the ambient temperature and the calibration precision, and the power-on driving assembly of the new energy automobile is coupled with the reduction gearbox, so that the actual torque output is difficult to stabilize at 0Nm.
Therefore, there is a need for a motor zero torque control method that at least partially solves the problems of the prior art.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially solve the above problems, in a first aspect, the present invention proposes a motor zero torque control method, the method comprising:
Acquiring a vehicle state;
detecting torque of a motor when the vehicle is in a coasting state;
And when the torque of the motor is not zero, the IGBT power module of the motor controller is controlled to be disconnected.
Optionally, the step of controlling the IGBT power module of the motor controller to turn off when the torque of the motor is not zero includes:
acquiring the state of a high-voltage relay of the power battery;
and when the high-voltage relay is closed, opening the high-voltage relay, and controlling the IGBT power module to be opened.
Optionally, the step of opening the high voltage relay when the high voltage relay is closed, and controlling the IGBT power module to be opened further includes:
acquiring the back electromotive force of the vehicle;
And comparing the counter electromotive force with a rated bus voltage, and opening the high-voltage relay when the counter electromotive force exceeds the rated bus voltage.
Optionally, the step of acquiring the back electromotive force of the vehicle includes:
And acquiring the rotating speed of the vehicle, and determining the counter electromotive force according to the rotating speed.
Optionally, the rotation speed and the counter electromotive force are in a direct proportion relation.
In a second aspect, the present invention also proposes a computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the mobile platform based target trajectory determination method of any one of the first aspects.
In a third aspect, the present invention also proposes a control device, comprising:
a memory storing a computer program;
a processor executing the computer program;
Wherein the processor, when executing the computer program, implements the motor zero torque control method of any one of the above.
In a fourth aspect, the present invention also proposes an electric drive system comprising:
A motor;
the power battery is connected to the motor and used for providing high-voltage power for the motor;
a motor controller connected to the motor;
and a control device for controlling the operation states of the power battery and the motor controller based on the motor torque value.
Optionally, the motor controller includes:
And the IGBT power module comprises a plurality of switching tubes which are respectively connected with the motor.
Optionally, the power battery comprises a high-voltage relay electrically connected to the motor.
In summary, this scheme is through obtaining the vehicle state, when above-mentioned vehicle is under the circumstances of sliding the state, detect the moment of torsion of motor, under the circumstances that the moment of torsion of above-mentioned motor is not zero, the IGBT power module disconnection of control motor controller to this restricts the output of three item electric currents to the motor, thereby make the output moment of torsion of motor stable be 0, avoided factors such as ambient temperature, calibration precision and become coupling reducing gear box to the influence of vehicle sliding zero torque, in vehicle sliding resistance test, can not receive the interference of moment of torsion fluctuation resistance, make test data more accurate. Compared with the existing rack calibration method, the method does not need to calibrate the current value of the zero torque of the motor at each rotating speed, can save time, shortens the research and development period, and is convenient for subsequent research on the dynamic property and economy of the whole vehicle.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic flow chart of a motor zero torque control method according to an embodiment of the present application;
FIG. 2 is a block diagram of a computer-readable storage medium according to an embodiment of the present application;
FIG. 3 is a block diagram of a control device according to an embodiment of the present application;
Fig. 4 is a schematic structural diagram of an electric driving system according to an embodiment of the present application.
The correspondence between the reference numerals and the component names in fig. 4 is:
200 electric drive system, 210 motor, 220 power battery, 221 high-voltage relay, 230 motor controller, 231 switch tube.
Detailed Description
The embodiment of the application provides a target track determining method and related equipment based on a mobile platform, which integrate the advantages of a volume Kalman algorithm and an interactive multi-model algorithm, not only can reduce the influence of noise on the determination of a motion track, but also can accurately track a target with a complex motion track and strong maneuverability.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.
Referring to fig. 1, a schematic flow chart of a motor zero torque control method provided in an embodiment of the application may specifically include:
s110, acquiring a vehicle state;
specifically, the state of the vehicle is acquired according to the current gear of the test vehicle.
S120, detecting the torque of the motor when the vehicle is in a sliding state;
Specifically, in the coasting test of the vehicle, when the state of the vehicle is in the N range, i.e., the coasting state, the torque of the motor is detected, and it is understood that the actual torque output is difficult to stabilize at 0n.m due to the influence of factors such as the model of the motor, the operating state, and the ambient temperature during the coasting of the vehicle. The sliding resistance test is inevitably affected by torque fluctuation resistance, so that the current torque of the motor needs to be detected so as to be convenient for subsequent adjustment of the torque.
And S130, when the torque of the motor is not zero, the IGBT (Insulated Gate Bipolar Transistor insulated gate bipolar transistor) power module of the motor controller is controlled to be disconnected.
When the current torque of the motor is detected to be not zero, the torque of the motor is stabilized to be 0 by controlling the IGBT power module of the motor controller to be disconnected. Specifically, the motor controller adjusts PWM (Pulse width modulation multiple pulse width adjustment) duty ratio through the IGBT power module, so that output of three-phase current is controlled, and the motor is driven, when detecting that the current torque of the motor is not zero, the IGBT power module is controlled to be closed, so that no three-phase current is output to the motor, and the output torque of the motor is stabilized to be 0.
In conclusion, the torque of the motor is controlled by controlling the IGBT power module, so that the torque of the motor is 0, the influence of factors such as ambient temperature, calibration precision, a coupling reduction gearbox and the like on the zero torque of the vehicle is avoided, the torque fluctuation resistance is not interfered in the vehicle sliding resistance test, and the test data is more accurate. Compared with the existing rack calibration method, the method does not need to calibrate the current value of the zero torque of the motor at each rotating speed, can save time, shortens the research and development period, and is convenient for subsequent research on the dynamic property and economy of the whole vehicle.
For example, a torque sensor may be optionally used to detect the torque of the motor.
It will be appreciated that in the coasting test, the time and speed of the neutral coast are collected, and the functional relationship between the resistance of the vehicle during coasting and the coasting speed is further processed and obtained. Therefore, the energy consumption, the endurance mileage, the power performance and the economic performance are further researched.
In some examples, the step of controlling the IGBT power module of the motor controller to turn off when the torque of the motor is not zero includes:
and when the high-voltage relay is closed, the high-voltage relay is opened, and then the IGBT power module is controlled to be opened.
Specifically, under the condition that the torque of the motor is detected to be not zero, the current state of the high-voltage relay of the power battery is obtained before the IGBT power module of the motor controller is controlled to be disconnected, and when the current state of the high-voltage relay is detected to be closed, the high-voltage relay is firstly disconnected, and then the IGBT power module is controlled to be disconnected. And when the current state of the high-voltage relay is detected to be off, directly controlling the IGBT power module to be off. It will be appreciated that back emf is generated as the motor rotates and that uncontrolled commutation occurs when the back emf exceeds the nominal bus voltage. The uncontrollable rectification is reverse to charge the power battery, so that the risk of burning the triode of the IGBT power module exists, and even the conditions of overcharging and the like of the power battery occur, so that equipment is damaged. Therefore, the high-voltage relay is disconnected firstly, the counter electromotive force can be reduced, the counter electromotive force cannot exceed the rated bus voltage, the risk is reduced, test equipment is protected, and the service life is prolonged.
In some examples, the step of opening the high voltage relay when the high voltage relay is in a closed state, and controlling the IGBT power module to open further includes obtaining a back electromotive force of the vehicle, comparing the back electromotive force with a rated bus voltage, and opening the high voltage relay when the back electromotive force exceeds the rated bus voltage.
Specifically, after the back electromotive force of the vehicle is acquired, it is determined whether to open the high-voltage relay by comparing the back electromotive force with the rated bus voltage. And when the counter electromotive force exceeds the rated bus voltage, the high-voltage relay is opened, and when the counter electromotive force does not exceed the rated bus voltage, the high-voltage relay is kept closed. The situation that the power battery is charged reversely is avoided, the test equipment is protected, and the service life is prolonged.
The IGBT power module is opened, and after the torque of the motor is guaranteed to be 0, the state of the high voltage relay is continuously detected by the BMS (Battery MANAGEMENT SYSTEM Battery management system), when the high voltage relay is in a closed state, the closed state is maintained until the sliding is finished, and when the high voltage relay is in an open state, it is indicated that the back electromotive force still exceeds the rated bus voltage, the back electromotive force needs to be continuously reduced until the back electromotive force does not exceed the rated bus voltage, and then the high voltage relay is closed. The power battery is prevented from being in a closed state for a long time, the condition that the emergency response is not timely occurs, and the safety is improved.
In some examples, the step of obtaining the counter electromotive force of the vehicle includes obtaining a rotational speed of the vehicle, and determining the counter electromotive force according to the rotational speed.
Specifically, the counter electromotive force of the vehicle can be obtained according to the rotation speed of the vehicle, the current counter electromotive force of the vehicle can be calculated by only measuring the current rotation speed of the vehicle, and it can be understood that the counter electromotive force of the motor can be calibrated in advance according to different rotation speeds, and the corresponding relation between the rotation speed and the counter electromotive force can be determined. And the calibration data can be made into a table according to the corresponding relation and written into an MCU (Microcontroller Unit micro control unit), so that the subsequent test and the adjustment are convenient, the test efficiency is improved, and the development period is shortened.
In some examples, the rotational speed is proportional to the back emf.
It will be appreciated that the faster the motor speed, the greater the back emf of the motor, and the speed and back emf are proportional. When the sliding resistance test starts, the speed of the vehicle is generally more than kilometers per hour, the rotating speed of the motor is too high, at the moment, the counter electromotive force exceeds the rated bus voltage, at the moment, the high-voltage relay is disconnected, and the generation of uncontrollable rectification is avoided while the zero torque of the motor is stabilized. In the process of sliding, the speed of the vehicle is reduced, the rotating speed of the motor is also reduced, the counter electromotive force of the motor is further degraded, and when the counter electromotive force does not exceed the rated bus voltage, the high-voltage relay can be closed, so that the power battery is ensured to supply power for the motor, the motor responds at any time, and the safety is improved.
As shown in fig. 2, a second aspect of the embodiment of the present application proposes a computer readable storage medium 401, where a computer program 402 is stored in the computer readable storage medium 401, to implement a method for controlling zero torque of a motor according to any of the above-mentioned aspects.
The computer readable storage medium 401 provided by the embodiment of the application acquires the state of the vehicle after the vehicle is started, detects the torque of the motor when the vehicle is in a sliding state, controls the IGBT power module of the motor controller to be disconnected when the torque of the motor is not zero, so as to limit the output of three currents to the motor, thereby stabilizing the output torque of the motor to be 0, avoiding the influence of factors such as ambient temperature, calibration precision, a coupling reduction gearbox and the like on the zero torque of the vehicle sliding, avoiding the interference of torque fluctuation resistance in the vehicle sliding resistance test, and ensuring more accurate test data. Compared with the existing rack calibration method, the method does not need to calibrate the current value of the zero torque of the motor at each rotating speed, can save time, shortens the research and development period, and is convenient for subsequent research on the dynamic property and economy of the whole vehicle.
Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.), and includes several instructions for causing a computer device (may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective implementation scenario of the present application.
As shown in fig. 3, a third aspect of the embodiment of the present application provides a control device 500, which includes a memory 501 storing a computer program, and a processor 502 executing the computer program, where the processor 502 implements the control method of zero torque of the motor according to any of the above technical solutions when executing the computer program.
According to the control device 500 provided by the embodiment of the application, after the vehicle is started, the state of the vehicle is obtained, when the vehicle is in a sliding state, the torque of the motor is detected, and when the torque of the motor is not zero, the IGBT power module of the motor controller is controlled to be disconnected, so that the output of three currents to the motor is limited, the output torque of the motor is stabilized to be 0, the influence of factors such as ambient temperature, calibration precision and a coupling reduction gearbox on the sliding zero torque of the vehicle is avoided, the interference of torque fluctuation resistance is avoided in the sliding resistance test of the vehicle, and the test data is more accurate. Compared with the existing rack calibration method, the method does not need to calibrate the current value of the zero torque of the motor at each rotating speed, can save time, shortens the research and development period, and is convenient for subsequent research on the dynamic property and economy of the whole vehicle.
In some examples, the control device 500 may also include a user interface, a network interface, a camera, radio Frequency (RF) circuitry, sensors, audio circuitry, WI-FI modules, and so forth. The user interface may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), etc.
In an exemplary embodiment, the control apparatus 500 may further include an input/output interface and a display device, where the respective functional units may communicate with each other through a bus. The memory stores a computer program, and a processor is configured to execute the program stored in the memory to perform the method in the above embodiment.
The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the physical device hardware and software resources of the above-described methods, supporting the execution of information handling programs and other software and/or programs. The network communication module is used for realizing communication among all components in the storage medium and communication with other hardware and software in the information processing entity equipment.
From the above description of the embodiments, it will be apparent to those skilled in the art that the present application may be implemented by means of software plus necessary general hardware platforms, or may be implemented by hardware.
As shown in fig. 4, an electric drive system 200 according to a fourth aspect of the present application includes a motor 210, a power battery 220 connected to the motor 210 for providing high voltage power to the motor 210, a motor controller 230 connected to the motor 210, and a control device for controlling the operation states of the power battery 220 and the motor controller 230 based on the torque value of the motor 210.
Specifically, the electric drive system 200 is provided with a motor 210, a power battery 220 and a motor controller 230, wherein the power battery 220 is connected to the motor 210 for providing high voltage power for the motor 210, the motor controller 230 is connected to the motor 210, and the motor controller 230 can control three-phase current input to the motor 210 by adjusting PWM duty ratio so as to adjust torque of the motor 210, thereby avoiding influence of factors such as ambient temperature, calibration precision and coupling reduction gearbox on torque of the motor 210, and ensuring that the motor 210 is stable in a zero torque state in a vehicle sliding resistance test.
It will be appreciated that when the control device obtains the torque value of the vehicle, when it determines that the torque of the vehicle is not zero, the control device controls the motor controller 230 to adjust the three-phase current value of the input motor 210, so that the three-phase current value of the input motor 210 is zero, the torque of the motor 210 is zero, the vehicle sliding resistance test data is more accurate, and in the test, the torque fluctuation resistance is not interfered, so that the test data is more accurate. Compared with the existing rack calibration method, the method does not need to calibrate the current value of zero torque of the motor 210 at each rotating speed, can save time, shortens the research and development period, and is convenient for subsequent research on the dynamic property and economy of the whole vehicle.
As shown in fig. 4, the motor controller 230 includes an IGBT power module including a plurality of switching tubes 231, and the plurality of switching tubes 231 are connected to the motor 210, respectively.
Specifically, the motor controller 230 is provided with an IGBT power module through which the three-phase current input to the motor 210 is controlled, and further, the IGBT power module is provided with a plurality of switching tubes 231, the plurality of switching tubes 231 are respectively connected to the motor 210, and the open/close state of each switching tube 231 can be individually adjusted to adjust the three-phase current value input to the motor 210, and when the plurality of switching tubes 231 are all turned off, the three-phase current value input to the motor 210 is zero, thereby enabling the torque of the motor 210 to be zero, and enabling the vehicle sliding resistance test data to be more accurate.
It is understood that the opening and closing of the plurality of switching tubes 231 are controlled by the control device.
As shown in fig. 4, the power battery 220 includes a high voltage relay 221 electrically connected to the motor 210.
Specifically, the power battery 220 is provided with a high-voltage relay 221, the high-voltage relay 221 is electrically connected to the motor 210 to control the power supply condition of the power battery 220 to the motor 210, when the high-voltage relay 221 is closed, the power battery 220 supplies power to the motor 210, and when the high-voltage relay 221 is opened, the power battery 220 stops supplying power to the motor 210.
It will be appreciated that the control device determines the current back emf of the vehicle based on the obtained vehicle speed, and when the back emf exceeds the nominal bus voltage, the control device controls the high voltage relay 221 to open, and the power battery 220 stops supplying power to the motor 210. When the counter electromotive force does not exceed the rated bus voltage, the control device controls the high-voltage relay 221 to be closed, and the power battery 220 supplies power to the motor 210.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or units referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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| CN108749645A (en) * | 2018-04-21 | 2018-11-06 | 浙江合众新能源汽车有限公司 | Control guard method of the electric vehicle in neutral position sliding |
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| JP5183594B2 (en) * | 2009-07-31 | 2013-04-17 | 日立オートモティブシステムズ株式会社 | Motor control device and motor system including the same |
| US9327707B2 (en) * | 2014-03-11 | 2016-05-03 | GM Global Technology Operations LLC | Method and apparatus for controlling a powertrain system during coasting |
| US9481262B2 (en) * | 2014-04-02 | 2016-11-01 | GM Global Technology Operations LLC | Electric vehicle and method |
| EP3486111B1 (en) * | 2016-07-15 | 2020-09-23 | Nissan Motor Co., Ltd. | Torque control method and torque control device |
| CN111458153A (en) * | 2020-03-24 | 2020-07-28 | 浙江飞碟汽车制造有限公司 | Zero-torque rack of pure electric vehicle motor and testing method thereof |
| CN112693327B (en) * | 2021-01-21 | 2023-05-12 | 中国重汽集团济南动力有限公司 | New energy permanent magnet whole vehicle control subsystem and method for reducing non-working loss and vehicle |
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| CN108749645A (en) * | 2018-04-21 | 2018-11-06 | 浙江合众新能源汽车有限公司 | Control guard method of the electric vehicle in neutral position sliding |
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